CN101370989B - Method for controlling a hydraulic cylinder in a work machine - Google Patents

Method for controlling a hydraulic cylinder in a work machine Download PDF

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Publication number
CN101370989B
CN101370989B CN2007800024625A CN200780002462A CN101370989B CN 101370989 B CN101370989 B CN 101370989B CN 2007800024625 A CN2007800024625 A CN 2007800024625A CN 200780002462 A CN200780002462 A CN 200780002462A CN 101370989 B CN101370989 B CN 101370989B
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China
Prior art keywords
hydraulic machine
hydraulic
hydraulic cylinder
pipeline
rotation
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CN2007800024625A
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Chinese (zh)
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CN101370989A (en
Inventor
博·维格霍尔姆
玛库·帕洛
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Volvo Construction Equipment AB
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Volvo Construction Equipment AB
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2289—Closed circuit
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
    • F03C1/00—Reciprocating-piston liquid engines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/0406—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed during starting or stopping
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20561—Type of pump reversible
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20569—Type of pump capable of working as pump and motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/27—Directional control by means of the pressure source
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F15B2211/30515—Load holding valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3057—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having two valves, one for each port of a double-acting output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
    • F15B2211/851—Control during special operating conditions during starting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/88—Control measures for saving energy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Lifting Devices For Agricultural Implements (AREA)

Abstract

The invention relates to a method for controlling a hydraulic cylinder (108) in a work machine, which hydraulic cylinder is arranged to move an implement in relation to a part of a vehicle, with the hydraulic cylinder being controlled by a hydraulic machine (204). The method comprises the steps of detecting initiation of a movement of the implement that is such that the piston (218) of the hydraulic cylinder is moved in a first direction, of driving the hydraulic machine (204) in a first rotational direction, prior to the movement of the implement taking place, so that a line from the hydraulic machine (204) is pressurized, which line is arranged to connect the hydraulic machine (204) to the side of the cylinder toward which the piston (218) will be moved during the movement of the implement.

Description

The method that is used for the hydraulic cylinder in the Control Engineering machinery
Technical field
The present invention relates to the method at least one hydraulic cylinder in the Control Engineering machinery, this hydraulic cylinder is arranged as instrument is moved with respect to the part of vehicle, and wherein hydraulic cylinder is controlled by hydraulic machine.
Background technology
The present invention will describe in conjunction with the engineering machinery with wheel loader form hereinafter.This is preferably and never to limit application of the present invention.The present invention also can be used for the engineering machinery (or engineering truck) of other types, for example loader-digger (telescopic loader-digger) and excavator.
The present invention relates, for example, to operation tool and to the lifting of cylinder and/or the control of inclination.
More properly, the present invention relates to control system, this control system comprises the hydraulic machine as pump and motor.Hydraulic machine is connected to motor with type of drive, and this motor is as motor and generator.
Therefore hydraulic machine is used as pump and the hydraulic fluid that pressurizes is supplied to hydraulic cylinder in the first running status.Hydraulic machine also is used as hydraulic motor in the second running status, and drives by the flow of hydraulic fluid from hydraulic cylinder.Therefore, motor is used as electro-motor and is used as generator in the second running status in the first running status.
The first running status is corresponding to duty, lifting or the inclination for example carried out with hydraulic cylinder.Therefore hydraulic fluid guides to the piston of hydraulic cylinder with movable cylinder.On the other hand, the second running status is energy recovery state.
Summary of the invention
The objective of the invention is to realize to be preferably used for enhanced feature and/or tilt function for the method for control hydraulic cylinder, this provides level and smooth operation and has meaned that the driver is subject to less vibrations and impact.
This task is to realize that according to the method for the hydraulic cylinder in the Control Engineering machinery of the present invention wherein, hydraulic cylinder is arranged as a part of Move tool with respect to vehicle, and this hydraulic cylinder is controlled by hydraulic machine.Therefore, this realizes with the method that comprises the steps: the beginning that detection moves up piston in first party in hydraulic cylinder instrument moves; Drive hydraulic machine in the first direction of rotation before generating tool moves, so that pressurized from the pipeline of hydraulic machine, this pipeline is arranged as a side that hydraulic machine is connected to cylinder, and piston will be to this side shifting during instrument moves.
Preferably directly detect mobile beginning by the input (for example move operation bar) from vehicle operators.
The reduction movement that the method mainly can be applicable to load to be avoiding vibrations, but the method also can be used on engineering machinery the lifting mobile to load, and the inclination that alternatively is used for instrument is moved.
Description of drawings
Describe hereinafter in more detail the present invention with reference to embodiment illustrated in the accompanying drawings, each figure is:
Fig. 1 shows the lateral view of wheel loader;
Fig. 2 shows the preferred embodiment for the control system of the work functions of control wheel loader;
Fig. 3 shows the flow chart for reducing instrument according to the first example; With
Fig. 4 shows the control system for the function of control wheel loader.
The specific embodiment
Fig. 1 shows the lateral view of wheel loader 101.Wheel loader 101 comprises anterior vehicle sections 102 and rear portion vehicle sections 103, and each comprises framework and a pair of power transmission shaft 112,113 these two parts.Rear portion vehicle sections 103 comprises driving cabin 114.Vehicle sections 102,103 is coupled to each other together, its mode so that they can be mutually pivot by two hydraulic cylinders 104,105 that are connected to described two parts around vertical axis.Therefore hydraulic cylinder 104,105 is arranged on the not homonymy of the center line on the longitudinal direction of vehicle, to be used for turning to or make wheel excavator 101 to rotate.
Wheel loader 101 comprises the equipment 111 for the treatment of object or material.Equipment 111 comprises lift arm unit 106 and has the instrument 107 on the lift arm unit of being installed in of shovel bucket form.Scraper bowl 107 has been filled material 116 herein.The first end of lift arm unit 106 is rotatably connected to anterior vehicle sections 102 to produce the lifting mobile of scraper bowl.The second end that scraper bowl 107 rotatably is connected to lift arm unit 106 moves with the inclination that produces scraper bowl.
Can lift arm unit 106 be risen with respect to the front part 102 of vehicle and reduce by two hydraulic cylinders 108,109, hydraulic cylinder 108,109 each be connected at one end anterior vehicle sections 102, and be connected to lift arm unit 106 at other end place.Scraper bowl 107 can tilt with respect to lift arm unit 106 by the 3rd hydraulic cylinder 110, and the 3rd hydraulic cylinder 110 is connected at one end anterior vehicle sections 102 and is connected to scraper bowl 107 at other end place by link arm system.
The embodiment of control system that is used for the hydraulic function of wheel loader 101 will provide hereinafter in more detail.This embodiment relates to by lift cylinder 108,109 and promotes and reduce lift arm 106, sees Fig. 1.Yet this embodiment of control system also can be for the scraper bowl 107 that tilts by inclined cylinder 110.
Fig. 2 shows the embodiment be used to the control system 201 of the lifting of carrying out lift arm 106 (seeing Fig. 1) and reduction.Hydraulic cylinder 108 among Fig. 2 is therefore corresponding to lift cylinder 108,109 (but only showing a cylinder) in Fig. 2.
Control system 201 comprises motor 202, hydraulic machine 204 and lift cylinder 108.Motor 202 is connected to hydraulic machine 204 in the Mechanical Driven mode by intermediate propeller shaft 206.Hydraulic machine 204 is connected to the piston side 208 of hydraulic cylinder 108 by the first pipeline 210, and is connected to the piston rod side 212 of hydraulic cylinder 108 by the second pipeline 214.
Hydraulic machine 204 is suitable in the first running status as pump, this pump is driven by motor 202 and is the hydraulic fluid that hydraulic cylinder 108 is supplied with from the pressurization of case 216, and in the second running status, be suitable for as motor the hydraulic fluid of this motor origin self-hydraulic cylinder 108 and driven motor 202.
Hydraulic machine 204 is suitable for controlling the speed of the piston 218 of hydraulic cylinder 108 in the first running status.Therefore, do not require that between hydraulic machine and hydraulic cylinder control valve comes for described control.More properly, control system 201 comprises control module 402, sees Fig. 4, and this control module is electrically connected to motor 202, to control the speed of the piston of hydraulic cylinder 108 by the control motor in the first running status.
Hydraulic machine 204 has the piston that is connected to hydraulic cylinder via the first pipeline 210 and surveys 208 First 220, and is connected to second mouthful 222 of piston rod side 212 of hydraulic cylinder via the second pipeline 214.In addition, second mouthful 222 of hydraulic machine 204 is connected to case 216, pumps by second mouthful 222 from case 216 to allow hydraulic machine in the first running status, and by First 220 oil is supplied to hydraulic cylinder 108.
In certain situation, for example when wishing to press down or during planarizing material, need to be to reduce scraper bowl 107 than larger power when load driven plunger 218 only mobile.Such reinforcement reduction is commonly referred to " power decline ".This power decline function also can be used for lifting vehicle.Control system 201 comprises the device 224 for controlled pressure, and described pressure apparatus 224 is arranged between second mouthful 222 of hydraulic machine 204 and the case 216, to allow build-up pressure on piston rod side 212.More properly, pressure control device 224 comprises the electrohydraulic pressure control limiting valve.
Control system 201 also comprises the sensor 228 for the pressure on the piston side 208 of sensing hydraulic cylinder 108.When piston side detects low voltage value, arrive the pipeline 226 of case by pressure limiting valve 224 blocking-up, this causes the pipeline 214 interior pressure of piston rod side to raise, and has obtained described reinforcement decline mobile (power decline).During reducing, pressure sensor has recorded at the piston side upward pressure and has been lower than certain level (for example 20 bar).Then stress level on automatically controlled voltage limiter is increased to suitable level, so that the foundation (build-up) of pressure occurs at piston rod side.
The First 220 of hydraulic machine 204 is connected to case 216 by the first aspiration line 230.Device 232 with one way valve form is suitable for allowing from case aspirated liquid hydraulic fluid and blocks hydraulic fluid by aspiration line 230 flowing to case.
Second mouthful 222 of hydraulic machine 204 is connected to case 216 by the second aspiration line 234.Device 236 with one way valve form is suitable for allowing from case aspirated liquid hydraulic fluid, and has blocked hydraulic fluid by aspiration line 234 flowing to case.
The device 237 that is used for opening/closing is arranged in the second pipeline 214 between the tailpiece of the piston rod 212 of second mouthful 222 of hydraulic machine 204 and hydraulic cylinder 108.This installs 237 electrically-controlled valve that comprise with two positions.In primary importance, pipeline 214 opens to flow at both direction.In the second place, valve has the function of one way valve and only allows to flow in the direction towards hydraulic cylinder 108.During lifting mobile, motor operated valve 237 is opened and the rotating speed of motor 202 has been determined the speed of the piston 218 of hydraulic cylinder 108.Hydraulic fluid aspirates and is pumped into by the first pipeline 210 piston side 208 of hydraulic cylinder 108 by the second aspiration line 234 from case 216.
Other pipeline 242 is connected connection with second mouthful 222 of hydraulic machine 204 with case.
The device 243 that is used for opening/closing is arranged between the piston end 208 of the First 220 of hydraulic machine 204 and hydraulic cylinder 108 at the first pipeline 210.This installs 243 electrically-controlled valve that comprise with two positions.In primary importance, pipeline 210 is open for flow in both directions.In the second place, valve has non-return valve function and only allows in the direction towards hydraulic cylinder 108 mobile.
According to preferred embodiment, be the reduction instrument, the movement that at first detects by lifting arm 406 has begun to reduce mobile.Motor operated valve 243 cuts out.Before the generation reduction was mobile, hydraulic machine 204 was driven on the first direction of rotation, so that the pipeline 210 between hydraulic machine and the valve 243 is pressurized.More specifically, by certain angle, this angle is enough to described pipeline 210 is pressurized to suitable degree hydraulic machine 204 in " on the direction of mistake " rotation.Hydraulic machine rotation is by predetermined angle, or angle depends on the size of load and changes.The size of load for example can detect by pressure sensor 228.
Then, the valve 243 on the piston side 208 is opened, and the direction of rotation of hydraulic machine 204 reverses and begins to reduce mobile.Automatically controlled voltage limiter may need to be throttled to certain degree, to improve recharging of piston rod side.
Therefore, allow hydraulic machine to rotate in the second direction of rotation opposite with the first direction of rotation, can occur to reduce mobile with this.Therefore reduced applied pressure, so that can begin to reduce mobile.Being flowing in of hydraulic fluid from hydraulic cylinder 108 driven hydraulic machine 204 on the second direction of rotation.
In addition, pressurization can be by at first occuring with certain torque actuated motor 202 in " on the direction of mistake ", and wherein the degree of torque is based on before this value of pressure sensor 228 just.For example, receive the signal from motor 202, this signal designation the torque of hydraulic machine.
Substitute according to another, after the beginning that the instrument of detecting moves, valve 243 stays open.In addition, detect the operational factor of having indicated from the pipeline pressurization of hydraulic machine 204.This operational factor has preferably been indicated the position of piston in hydraulic cylinder.This location optimization ground detects by position sensor 248.The value (position) that detects and limiting value are compared, and if the value that detects surpassed limiting value then stopped pressurization.Limiting value is corresponding to the slight rise of piston in hydraulic cylinder when motor is driven on the first direction of rotation (" on the direction of mistake ").This has indicated the reduction movement to begin, and pressurization stops and drives hydraulic machine 204 on the second direction of rotation from being flowing in of hydraulic fluid of hydraulic cylinder 108.
According to alternate embodiment, method is used for rising scraper bowl 107 with respect to the front part 102 of wheel loader 101.The work operation may require planarizing material on basal plane.Smooth for carrying out this, scraper bowl can be lowered to realize and the contacting of ground, and then continues to reduce mobile so that front-wheel and throws off and the contacting of ground, and the front part 102 of wheel loader is promoted from ground.Wheel loader then can be by downwards or to rear drive, with smooth basal plane.In some cases, when machine during in this position, what may wish is that loading arm is risen slightly, to obtain the grasping with front-wheel.Promote operation, piston rod side is therefore with above-described pressurized for reducing the corresponding mode of mobile mode for this reason.For system shown in figure 2, also can cause pressure limiting valve 224 to be closed, so that the pressurization that requires in pipeline 214 interior acquisitions.
Fig. 3 illustrates in the reduction method flow chart for logical circuit.Logical circuit starts from initial block 301.Then, control module proceeds to frame 303, has read herein the signal that is used for enhanced feature from control lever 406.In next frame 305, determine whether to begin to reduce mobile.Begin if reduce to move, then the piston side of hydraulic cylinder is seen frame 307 by pressurized by motor-driven hydraulic press device.Then, from sensor 248 read signal again, this sensor 248 has detected the position of piston rod, sees frame 309.If detect certain moving up of piston rod, see frame 311, then be terminated by the driving of motor to hydraulic machine, see frame 313, and allow hydraulic machine by the flow driving from hydraulic machine, see frame 315.
For example, the position of piston rod in lift cylinder detected by linear transducer.According to detecting substituting of the position of piston rod in lift cylinder, detect the position, angle of loading arm by angular transducer.According to alternative or other, for example pass through the position of the piston rod in the inclined cylinder, or by angular transducer, the position of testing tool.Location parameter preferably is repeated to detect, and suitably basically by continuous detecting, can determine the direction of piston in hydraulic cylinder with this.
According to substituting for start method to what detect that lifting arm 406 moves, can receive input from another control appliance, airborne computer for example, this can be the situation of operatorless machine.
If scraper bowl 107 is answered cut (this may occur) when scraper bowl bumps against ground in reduction is mobile, then hydraulic machine 204 can not in time stop.In this state, may be from case 216 by aspiration line 230 with by other pipeline 242 aspirated liquid hydraulic fluid.
Electrically-controlled valve 237,243 is as the load maintaining valve.They are closed so that not power consumption when parked (hanging) load, and also are used for preventing from when drive source cuts out.According to substituting, the valve 237 on piston rod side 212 is omitted.Yet advantageously retention valve 237, because external force may promote lift arm 106.
Filter element 238 and heat exchanger 240 are between additional line 242 is arranged in second mouthful 222 of hydraulic machine 204 and case 216.When enhanced feature is in neutral position, filtration in addition and add heat flow may be by making hydraulic machine 204 drive from case 216 at first by the first aspiration line 230 and then obtaining by circulating of additional line 242.Before case, hydraulic fluid is therefore by heat exchanger 240 and filter unit 238.
224 pressurizations of automatically controlled voltage limiter by occuring in above-described mode to the pumping circulation of case and to another possibility of the other heating of hydraulic fluid in existence simultaneously.This also may occur when using enhanced feature certainly.
In addition, automatically controlled voltage limiter 224 may be as supporting valve (back-up valve) to recharge piston rod side 212 when reducing when carrying out.Back pressure can change on request and can remain lowly as far as possible, and this has saved energy.The hotter then back pressure of oil may be lower, and the slower then back pressure of speed that reduces can be lower.When having filtration stream, back pressure may be zero.
The First 220 that the first pressure limiting valve 245 is arranged in hydraulic machine 204 is connected on the pipeline of case 216.The piston side 208 that the second pressure limiting valve 247 is arranged in hydraulic cylinder 108 is connected on the pipeline of case 216.Two pressure limiting valves 245,247 are being connected to the first pipeline 210 between the piston side 208 of hydraulic machine 204 and hydraulic cylinder 108 on the not homonymy of valve 243.Two pressure limiting valves 245,247 are also referred to as shock valves, and they are spring loaded and are adjusted under different pressure and open.According to example, the first pressure limiting valve 245 is adjusted under the pressure of 270 bar to be opened, and the second pressure limiting valve 247 is adjusted under the pressure of 380 bar and opens.
When engineering machinery 101 is travelled to gravel heap or clitter and/or when instrument be raised/reduce/when tilting, the movement of scraper bowl may be subject to the reaction of obstacle.Pressure limiting valve 245,247 assurance pressure are not increased to the level of damage system.
According to first example, scraper bowl 107 is in neutral position, and is in other words, static with respect to the framework of anterior vehicle sections 102.When wheel loader 101 travelled to clitter, the second pressure limiting valve 247 was opened under the pressure of 380 bar.
Between ongoing decrement phase, open at the valve 243 between the piston side 208 of hydraulic machine 204 and hydraulic cylinder 108 on the first pipeline 210.When lift arm 106 was lowered, the first voltage limiter 245 was opened under the pressure of 270 bar.If impel loading arm 106 upwards in the reduction run duration external force of using power to descend, then opening at the voltage limiter 224 between second mouthful 222 of hydraulic machine 204 and the case 216 on the pipeline 226.
According to be adjusted into the pressure limiting valve 245 opened, 247 substitute under predetermined pressure, pressure limiting valve can be designed as with the variable pressure of opening.According to modified example, pressure limiting valve 245,247 is by automatically controlled.If use automatically controlledly, then a valve 247 is enough to be used in vibration function.This valve 247 depends on that valve 243 is in opens or closes and controlled.Open pressure and can depend on that lifting activation or unactivated/reduction function adjusts, and also depend on piston position.
Fig. 4 shows the control system for reducing function.Control element 406 with lifting arm form is arranged in the driving cabin 114 being used for and is manually operated by the driver, and is electrically connected to control module 402 with the control enhanced feature.
Motor 202 is electrically connected to control module 402, and its mode is so that its controlled unit control and can provide operating state signal to control module.
Control system comprises one or more energy storage devices 420 that are connected to described motor 202.Energy storage device 420 for example can comprise battery or super capacitor.Energy storage device 420 is suitable for providing energy as motor operation and when driving its relevant pump 204 to motor when motor 202.Motor 202 is suitable for filling with energy to energy storage device 420 when by its relevant pump 204 drivings and as generator operation.
Wheel loader 101 also comprises the power source 422 with internal combustion engine form to be used for driving vehicle, and this internal combustion engine generally includes diesel engine.Diesel engine is connected to the wheel of vehicle by the power train (not shown) in driving model.Diesel engine also is connected to energy storage device 420 to be used for the energy transmission by the generator (not shown).
Can conceive alternative machines/units to be suitable for generating electric power.Substitute according to first, use the fuel cell that energy is provided to motor.Substitute according to second, use band to be useful on the gas turbine that the generator of energy is provided to motor.
Fig. 4 also shows the first embodiment (seeing Fig. 2) according to control system and is connected to other parts of control module 402 to be used for enhanced feature, for example electrically-controlled valve 224,237,243, position sensor 248 and pressure sensor 228.Will be appreciated that the corresponding parts for tilt function and turning function and other function are connected to control module 402.
The present invention does not regard as and is limited to above-described embodiment, but can conceive a plurality of further variations and modification in the scope of following claim.

Claims (14)

1. method that is used for the hydraulic cylinder (108,109,110) in the Control Engineering machinery (101), the part (102) that this hydraulic cylinder is arranged as with respect to vehicle is come Move tool (107), wherein, described hydraulic cylinder is by hydraulic machine (204) control, and the method comprises the steps:
The beginning that detection moves up piston (218) in first party in described hydraulic cylinder instrument moves; Before moving, generating tool drives hydraulic machine (204) in the first direction of rotation, so that pressurized from the pipeline of hydraulic machine (204), this pipeline is arranged as a side that hydraulic machine (204) is connected to cylinder, and piston during instrument moves (218) will be to this side shifting;
Allow afterwards described hydraulic machine (204) to rotate in the second direction of rotation opposite with described the first direction of rotation in pressurization, thereby described instrument can begin mobile, and drives described hydraulic machine (204) from the flow of hydraulic fluid of described hydraulic cylinder in described the second direction of rotation.
2. method according to claim 1, the controllable device (237,243) that wherein is used for the flow path between opening and closing hydraulic machine (204) and the hydraulic cylinder (208) is arranged in the pipeline from hydraulic machine, the method comprises the steps: after the beginning that the instrument of detecting moves, keep controllable device (237,243) to close, so that controllable device (237,243) does not allow to flow in the direction of (204) from the hydraulic cylinder to the hydraulic machine; And the pipeline (210) between hydraulic cylinder (204) and the controllable device (237,243) pressurizeed.
3. method according to claim 2, comprise the steps: after pressurization, to open controllable device (237,243), allowing hydraulic machine (204) to rotate in the second direction of rotation opposite with the first direction of rotation, can begin mobile and drive hydraulic machine (204) from the flow of hydraulic fluid of hydraulic cylinder in the second direction of rotation with this.
4. method according to claim 1 comprises the steps: to drive hydraulic machine (204) in the first direction of rotation before instrument moves generation, so that a side of hydraulic machine is by pressurized from the described pipeline of hydraulic machine (204).
5. method according to claim 1, comprise the steps: before instrument moves generation, to drive hydraulic machine (204) in the first direction of rotation, so that the piston side of hydraulic machine (208) is by pressurized from the described pipeline (210) of hydraulic machine (204).
6. method according to claim 1 comprises the steps: the beginning of moving by the input testing tool from the operator of vehicle.
7. method according to claim 1, comprise the steps: to detect the operating parameter indicated from the pressurization of the pipeline of hydraulic machine (204), the value and the limiting value that detect are compared, and if value value of overstepping the extreme limit that detects then stop pressurization.
8. method according to claim 7 comprises the steps: to detect the operational factor of having indicated the position of piston (218) in hydraulic cylinder.
9. method according to claim 1, comprise the steps: to drive hydraulic machine (204) in the first direction of rotation by predetermined angle.
10. method according to claim 1, wherein instrument (107) is subject to load (116).
11. method according to claim 1, wherein the movement of instrument is to reduce to move.
12. method according to claim 1, wherein the pipeline (210) from hydraulic machine (204) is arranged as the piston side (208) that hydraulic machine is connected to hydraulic cylinder.
13. method according to claim 1, wherein the movement of instrument is to tilt to move.
14. method according to claim 1 and 2, wherein the pipeline (214) from hydraulic machine (204) is arranged as the piston rod side (212) that hydraulic machine is connected to hydraulic cylinder.
CN2007800024625A 2006-01-16 2007-01-16 Method for controlling a hydraulic cylinder in a work machine Active CN101370989B (en)

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SE0600087A SE531309C2 (en) 2006-01-16 2006-01-16 Control system for a working machine and method for controlling a hydraulic cylinder of a working machine
SE06000871 2006-01-16
SE0600087-1 2006-01-16
US75999606P 2006-01-18 2006-01-18
US60/759,996 2006-01-18
PCT/SE2007/000041 WO2007081281A1 (en) 2006-01-16 2007-01-16 Method for controlling a hydraulic cylinder in a work machine

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CN2007800024428A Active CN101370988B (en) 2006-01-16 2007-01-16 Method for controlling a hydraulic machine in a control system
CN2007800024409A Active CN101370987B (en) 2006-01-16 2007-01-16 Control system for a work machine and method for controlling a hydraulic cylinder
CN2007800024625A Active CN101370989B (en) 2006-01-16 2007-01-16 Method for controlling a hydraulic cylinder in a work machine
CN2007800024220A Expired - Fee Related CN101370985B (en) 2006-01-16 2007-01-16 Method for controlling a hydraulic cylinder and control system for a work machine
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